public void Render(IGraphics g, WorldTransform wt)
{
LinePath path = line;
if (path == null)
{
return;
}
PointF[] pts = Utility.ToPointF(path);
IPen p = g.CreatePen();
p.Color = color;
p.Width = nom_pixel_width / wt.Scale;
g.DrawLines(p, pts);
p.Dispose();
if (labelPoints)
{
for (int i = 0; i < path.Count; i++)
{
DrawingUtility.DrawControlPoint(g, path[i], Color.Black, i.ToString(), ContentAlignment.MiddleRight, ControlPointStyle.SmallX, wt);
}
}
}
public void Render(IGraphics g, WorldTransform wt)
{
if (avoidanceDetails == null)
{
return;
}
if (drawBoundPoints)
{
PointF vehicleLoc = Utility.ToPointF(Services.VehicleStateService.Location);
g.GoToVehicleCoordinates(vehicleLoc, (float)Services.VehicleStateService.Heading + (float)Math.PI / 2.0f);
for (int i = 0; i < avoidanceDetails.smoothingDetails.leftBounds.Length; i++)
{
BoundInformation b = avoidanceDetails.smoothingDetails.leftBounds[i];
DrawingUtility.DrawControlPoint(g, b.point, Color.Blue, null, ContentAlignment.MiddleRight, ControlPointStyle.LargeX, wt);
}
for (int i = 0; i < avoidanceDetails.smoothingDetails.rightBounds.Length; i++)
{
BoundInformation b = avoidanceDetails.smoothingDetails.rightBounds[i];
DrawingUtility.DrawControlPoint(g, b.point, Color.Red, null, ContentAlignment.MiddleRight, ControlPointStyle.LargeX, wt);
}
g.ComeBackFromVehicleCoordinates();
}
}
public void Render(IGraphics g, WorldTransform wt)
{
Polygon curPoly = poly;
if (curPoly == null)
{
return;
}
IPen pen = g.CreatePen();
pen.Width = nom_pixel_width / wt.Scale;
pen.Color = color;
if (drawFilled)
{
g.FillPolygon(Color.FromArgb(100, color), Utility.ToPointF(curPoly));
}
g.DrawPolygon(pen, Utility.ToPointF(curPoly));
if (drawCentroid)
{
DrawingUtility.DrawControlPoint(g, curPoly.GetCentroid(), color, null, ContentAlignment.BottomCenter, ControlPointStyle.LargeX, wt);
}
pen.Dispose();
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (t.ShouldDraw(this.GetBoundingBox(t)))
{
DrawingUtility.DrawColoredControlLine(
DrawingUtility.ColorArbiterInterconnect,
System.Drawing.Drawing2D.DashStyle.DashDot,
this.initialWaypoint.Position,
this.finalWaypoint.Position,
g, t);
if (this.InitialGeneric is ArbiterWaypoint && ((ArbiterWaypoint)this.InitialGeneric).WaypointId.LaneId.WayId.Number == 1)
{
DrawingUtility.DrawControlPolygon(this.TurnPolygon, Color.DarkBlue, System.Drawing.Drawing2D.DashStyle.DashDot, g, t);
if (this.InnerCoordinates.Count > 1)
{
DrawingUtility.DrawControlPoint(this.InnerCoordinates[1], Color.DarkBlue, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
}
else
{
DrawingUtility.DrawControlPolygon(this.TurnPolygon, Color.DarkGreen, System.Drawing.Drawing2D.DashStyle.DashDot, g, t);
if (this.InnerCoordinates.Count > 1)
{
DrawingUtility.DrawControlPoint(this.InnerCoordinates[1], Color.DarkGreen, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c = DrawingUtility.ColorToolAngle;
if (this.p1 != null && this.p2 != null && this.p3 != null)
{
Coordinates p2p1 = this.p1.Value - this.p2.Value;
Coordinates p2p3 = this.p3.Value - this.p2.Value;
double angleTmp = (p2p1.Dot(p2p3) / (p2p1.Length * p2p3.Length));
angleTmp = Math.Acos(angleTmp);
double angleDeg = angleTmp * 180.0 / Math.PI;
//double angleDeg = p2p1.ToDegrees() - p2p3.ToDegrees();
string angle = angleDeg.ToString("F6") + " deg";
DrawingUtility.DrawControlPoint(this.p1.Value, c, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawControlPoint(this.p2.Value, c, angle, ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawControlPoint(this.p3.Value, c, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawColoredControlLine(c, System.Drawing.Drawing2D.DashStyle.Solid, this.p1.Value, this.p2.Value, g, t);
DrawingUtility.DrawColoredControlLine(c, System.Drawing.Drawing2D.DashStyle.Solid, this.p2.Value, this.p3.Value, g, t);
}
else if (this.p1 != null && this.p2 != null)
{
DrawingUtility.DrawControlPoint(this.p1.Value, c, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawControlPoint(this.p2.Value, c, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawColoredControlLine(c, System.Drawing.Drawing2D.DashStyle.Solid, this.p1.Value, this.p2.Value, g, t);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c;
if (selected == SelectionType.SingleSelected)
{
c = DrawingUtility.ColorArbiterParkingSpotWaypointSelected;
}
else if (this.isCheckpoint)
{
c = DrawingUtility.ColorArbiterParkingSpotWaypointCheckpoint;
}
else
{
c = DrawingUtility.ColorArbiterParkingSpotWaypoint;
}
if (DrawingUtility.DisplayArbiterWaypointCheckpointId && this.isCheckpoint)
{
DrawingUtility.DrawControlPoint(this.position, DrawingUtility.ColorDisplayArbiterCheckpoint, this.checkpointId.ToString(),
ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
}
if (DrawingUtility.DisplayArbiterParkingSpotWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(),
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c = DrawingUtility.ColorArbiterPerimeterWaypoint;
if (selected == SelectionType.SingleSelected)
{
c = DrawingUtility.ColorArbiterPerimeterWaypointSelected;
}
else if (this.IsExit)
{
c = Color.Red;
}
else if (this.IsEntry)
{
c = Color.Blue;
}
if (DrawingUtility.DisplayArbiterPerimeterWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(),
ContentAlignment.BottomCenter, ControlPointStyle.SmallBox, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null,
ContentAlignment.BottomCenter, ControlPointStyle.SmallBox, g, t);
}
}
public void Render(System.Drawing.Graphics g, RndfEditor.Display.Utilities.WorldTransform t)
{
// draw the sparse polygon of the selected
if (this.Toolbox.Partition != null)
{
DrawingUtility.DrawControlPolygon(
this.Toolbox.Partition.SparsePolygon,
Color.DarkSeaGreen, System.Drawing.Drawing2D.DashStyle.Solid, g, t);
foreach (Coordinates c in this.Toolbox.Partition.SparsePolygon)
{
DrawingUtility.DrawControlPoint(c, Color.DarkSeaGreen, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
foreach (Coordinates c in this.Toolbox.tmpPolyCoords)
{
DrawingUtility.DrawControlPoint(c, Color.DarkViolet, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
if (this.Toolbox.tmpPolyCoords.Count > 1)
{
for (int i = 0; i < this.Toolbox.tmpPolyCoords.Count - 1; i++)
{
DrawingUtility.DrawControlLine(this.Toolbox.tmpPolyCoords[i], this.Toolbox.tmpPolyCoords[i + 1], g, t, null, Color.DarkViolet);
}
}
}
}
public void Render(IGraphics g, WorldTransform wt)
{
if (location.IsNaN)
{
return;
}
DrawingUtility.DrawControlPoint(g, location, color, label, labelAlignment, style, wt);
}
private void DrawRuler(IGraphics g, WorldTransform transform, Coordinates start, Coordinates end)
{
// determine what alignment to use
Coordinates diff = end - start;
ContentAlignment align;
if (diff.X > 0 && diff.Y > 0)
{
align = ContentAlignment.MiddleRight;
}
else if (diff.X < 0 && diff.Y > 0)
{
align = ContentAlignment.MiddleLeft;
}
else if (diff.X < 0 && diff.Y < 0)
{
align = ContentAlignment.MiddleLeft;
}
else if (diff.X > 0 && diff.Y < 0)
{
align = ContentAlignment.MiddleRight;
}
else if (diff.X == 0 && diff.Y > 0)
{
align = ContentAlignment.MiddleRight;
}
else if (diff.X == 0 && diff.Y < 0)
{
align = ContentAlignment.MiddleRight;
}
else if (diff.X < 0 && diff.Y == 0)
{
align = ContentAlignment.MiddleLeft;
}
else if (diff.X > 0 && diff.Y == 0)
{
align = ContentAlignment.MiddleRight;
}
else
{
align = ContentAlignment.MiddleRight;
}
double dist = diff.VectorLength;
string label = dist.ToString("F2") + " m, (" + end.X.ToString("F1") + "," + end.Y.ToString("F1") + ")";
using (IPen pen = g.CreatePen()) {
pen.Color = Color.DarkRed;
pen.Width = 1.5f / transform.Scale;
g.DrawLine(pen, Utility.ToPointF(start), Utility.ToPointF(end));
}
DrawingUtility.DrawControlPoint(g, start, Color.DarkRed, null, ContentAlignment.BottomRight, ControlPointStyle.LargeCircle, transform);
DrawingUtility.DrawControlPoint(g, end, Color.DarkRed, label, align, ControlPointStyle.LargeCircle, transform);
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
// show intersection safetyzone if supposed to show safety zone (polygon red hatch)
if (DrawingUtility.DrawArbiterSafetyZones)
{
// show intersection polygon
HatchBrush hBrush1 = new HatchBrush(HatchStyle.ForwardDiagonal, DrawingUtility.ColorArbiterSafetyZone, Color.White);
// populate polygon
List <PointF> polyPoints = new List <PointF>();
foreach (Coordinates c in this.IntersectionPolygon.points)
{
polyPoints.Add(DrawingUtility.ToPointF(c));
}
// draw poly and fill
g.FillPolygon(hBrush1, polyPoints.ToArray());
}
// render stopped exits
foreach (ArbiterStoppedExit ase in this.StoppedExits)
{
ase.Render(g, t);
}
// draw intersection polygon
DrawingUtility.DrawControlPolygon(this.IntersectionPolygon,
DrawingUtility.ColorArbiterIntersection,
DashStyle.DashDotDot,
g, t);
// show incoming lane points (disjoint from exits)
foreach (KeyValuePair <ArbiterLane, LinePath.PointOnPath> pop in this.IncomingLanePoints)
{
DrawingUtility.DrawControlPoint(pop.Key.LanePath().GetPoint(pop.Value), DrawingUtility.ColorArbiterIntersectionIncomingLanePoints, null,
ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
// show all entries
foreach (ITraversableWaypoint aw in this.AllEntries.Values)
{
DrawingUtility.DrawControlPoint(aw.Position, DrawingUtility.ColorArbiterIntersectionEntries, null,
ContentAlignment.MiddleCenter, ControlPointStyle.LargeCircle, g, t);
}
// show all exits
foreach (ITraversableWaypoint aw in this.AllExits.Values)
{
DrawingUtility.DrawControlPoint(aw.Position, DrawingUtility.ColorArbiterIntersectionExits, null,
ContentAlignment.MiddleCenter, ControlPointStyle.LargeCircle, g, t);
}
// draw center point
DrawingUtility.DrawControlPoint(this.Center, DrawingUtility.ColorArbiterIntersection, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, g, t);
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
// default color
Color c = DrawingUtility.ColorSimObstacles;
// check selection
if (this.selected == SelectionType.SingleSelected)
{
c = DrawingUtility.ColorSimSelectedObstacle;
}
else if (this.isBlockage)
{
c = DrawingUtility.ColorSimObstacleBlockage;
}
// draw box
// width of drawing
float penWidth = nomPixelWidth / t.Scale;
// body rectangle
RectangleF bodyRect = new RectangleF((float)(-(float)this.Width / 2), (-(float)this.Length / 2), (float)Width, (float)Length);
// body transformation matrix
Matrix bodyTrans = new Matrix();
bodyTrans.Rotate((float)(this.Heading.ToDegrees() - 90));
bodyTrans.Translate((float)Position.X, (float)Position.Y, MatrixOrder.Append);
// save original world transformation matrix
Matrix origTrans = g.Transform.Clone();
bodyTrans.Multiply(g.Transform, MatrixOrder.Append);
// set the new transform
g.Transform = bodyTrans;
// make a new pen and draw obstacle body
using (Pen p = new Pen(c, penWidth))
{
g.DrawRectangle(p, bodyRect.X, bodyRect.Y, bodyRect.Width, bodyRect.Height);
}
// return to normal transformation
g.Transform = origTrans;
// draw id
if (DrawingUtility.DrawSimObstacleIds)
{
DrawingUtility.DrawControlLabel(this.Position, c, this.ObstacleId.ToString(), ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.Position, c, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
}
public void Render(IGraphics g, WorldTransform wt)
{
if (points == null)
{
return;
}
for (int i = 0; i < points.Length; i++)
{
DrawingUtility.DrawControlPoint(g, points[i], color, null, ContentAlignment.BottomCenter, style, wt);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c = DrawingUtility.ColorRndfEditorTemporaryPoint;
foreach (KeyValuePair <string, Coordinates> point in Points)
{
if (!DrawingUtility.DrawRndfEditorTemporaryPointId)
{
DrawingUtility.DrawControlPoint(point.Value, c, null, ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(point.Value, c, point.Key, ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (this.Initial != null && this.Current != null)
{
DrawingUtility.DrawControlPoint(this.Initial.Value, DrawingUtility.ColorToolRuler, null, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawControlPoint(this.Current.Value, DrawingUtility.ColorToolRuler, null, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorToolRuler, System.Drawing.Drawing2D.DashStyle.Solid,
this.Initial.Value, this.Current.Value, g, t);
Coordinates dir = this.Current.Value - this.Initial.Value;
Coordinates final = this.Initial.Value + dir.Normalize(dir.Length / 2.0);
string label = dir.Length.ToString("F6") + " m";
DrawingUtility.DrawControlPoint(final, DrawingUtility.ColorToolRuler, label, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.None, g, t);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (this.Mode == ZoneToolboxMode.StayOut)
{
if (this.WrappingHelpers.Count > 0)
{
for (int i = 0; i < this.WrappingHelpers.Count; i++)
{
DrawingUtility.DrawControlPoint(this.WrappingHelpers[i], Color.SteelBlue, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
if (i + 1 < this.WrappingHelpers.Count)
{
DrawingUtility.DrawColoredControlLine(Color.SteelBlue, System.Drawing.Drawing2D.DashStyle.Solid,
this.WrappingHelpers[i], this.WrappingHelpers[i + 1], g, t);
}
}
if (this.WrappingHelpers.Count > 0)
{
DrawingUtility.DrawColoredControlLine(Color.SteelBlue, System.Drawing.Drawing2D.DashStyle.Solid,
this.WrappingHelpers[this.WrappingHelpers.Count - 1], this.CurrentMouse, g, t);
}
}
}
else if (this.Mode == ZoneToolboxMode.NavNodes)
{
if (this.rightClickNode != null)
{
DrawingUtility.DrawControlPoint(this.rightClickNode.Position, Color.Red, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
else if (this.rightClickEdge != null)
{
DrawingUtility.DrawColoredArrowControlLine(Color.Red, System.Drawing.Drawing2D.DashStyle.Solid,
this.rightClickEdge.Start.Position, this.rightClickEdge.End.Position, g, t);
}
if (this.PreviousNode != null)
{
DrawingUtility.DrawColoredArrowControlLine(Color.DarkBlue, System.Drawing.Drawing2D.DashStyle.Solid,
this.PreviousNode.Position, this.CurrentMouse, g, t);
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
//if (t.WorldLowerLeft.X < this.Position.X && t.WorldLowerLeft.Y < this.position.Y && t.WorldUpperRight.X > this.position.X && t.WorldUpperRight.Y > this.position.Y)
if (t.ShouldDraw(this.GetBoundingBox(t)))
{
Color c;
if (this.isCheckpoint && this.IsStop)
{
c = DrawingUtility.ColorArbiterWaypointStopCheckpoint;
}
else if (this.isCheckpoint)
{
c = DrawingUtility.ColorArbiterWaypointCheckpoint;
}
else if (this.IsStop)
{
c = DrawingUtility.ColorArbiterWaypointStop;
}
else
{
c = DrawingUtility.ColorArbiterWaypoint;
}
if (this.isCheckpoint && DrawingUtility.DisplayArbiterWaypointCheckpointId)
{
DrawingUtility.DrawControlPoint(this.position, DrawingUtility.ColorDisplayArbiterCheckpoint, this.checkpointId.ToString(),
ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
}
if (DrawingUtility.DisplayArbiterWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(),
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c;
if (this.selected == SelectionType.NotSelected)
{
c = DrawingUtility.ColorArbiterUserWaypoint;
}
else
{
c = DrawingUtility.ColorArbiterUserWaypointSelected;
}
if (DrawingUtility.DisplayArbiterWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(), ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null, ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (DrawingUtility.DrawArbiterZoneMap)
{
foreach (Polygon p in this.StayOutAreas)
{
DrawingUtility.DrawControlPolygon(p, Color.SteelBlue, System.Drawing.Drawing2D.DashStyle.Solid, g, t);
foreach (Coordinates c in p)
{
DrawingUtility.DrawControlPoint(c, Color.SteelBlue, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
}
foreach (INavigableNode nn in this.NavigationNodes)
{
DrawingUtility.DrawControlPoint(nn.Position, Color.DarkOrange, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
foreach (NavigableEdge ne in this.NavigableEdges)
{
DrawingUtility.DrawColoredArrowControlLine(Color.DarkBlue, System.Drawing.Drawing2D.DashStyle.Solid, ne.Start.Position, ne.End.Position, g, t);
}
}
}
/// <summary>
/// What happens when we paint
/// </summary>
/// <param name="e"></param>
protected override void OnPaint(PaintEventArgs e)
{
// clear the background
e.Graphics.Clear(BackColor);
// center on tracked vehicle if exists
if (this.tracked != null)
{
// Get the offset.
Point point = new Point(this.ClientRectangle.Width / 2, this.ClientRectangle.Height / 2);
// get screen po of vehicle
PointF screenCarPos = this.transform.GetScreenPoint(this.tracked.Position);
// Calculate change in Position
double deltaX = ((double)screenCarPos.X) - point.X;
double deltaY = ((double)screenCarPos.Y) - point.Y;
// Update the world
Coordinates tempCenter = WorldTransform.CenterPoint;
tempCenter.X += deltaX / WorldTransform.Scale;
tempCenter.Y -= deltaY / WorldTransform.Scale;
WorldTransform.CenterPoint = tempCenter;
}
// save the graphics state
GraphicsState gs = e.Graphics.Save();
// set the drawing modes
e.Graphics.SmoothingMode = SmoothingMode.AntiAlias; //.HighSpeed;//.HighQuality;
e.Graphics.CompositingQuality = CompositingQuality.HighSpeed; //.HighQuality;
e.Graphics.InterpolationMode = InterpolationMode.Bilinear; //.Bicubic;
e.Graphics.TextRenderingHint = System.Drawing.Text.TextRenderingHint.ClearTypeGridFit;
// set the transform
e.Graphics.Transform = transform.GetTransform();
// paint the display objects
foreach (IDisplayObject obj in displayObjects)
{
// check if we should display the object
if (obj.ShouldDraw())
{
// render each object
obj.Render(e.Graphics, transform);
}
}
// render ai vehicle
if (!this.DesignMode && this.aiVehicle != null && this.aiVehicle.State != null && this.aiVehicle.ShouldDraw())
{
this.aiVehicle.Render(e.Graphics, transform);
}
// render ai information
if (!this.DesignMode && RemoraCommon.aiInformation.ShouldDraw())
{
RemoraCommon.aiInformation.Render(e.Graphics, transform);
}
// render current tool
if (!this.DesignMode && this.CurrentEditorTool != null && this.CurrentEditorTool.ShouldDraw())
{
this.CurrentEditorTool.Render(e.Graphics, transform);
}
// render current tool
if (!this.DesignMode && this.SecondaryEditorTool != null && this.SecondaryEditorTool.ShouldDraw())
{
this.SecondaryEditorTool.Render(e.Graphics, transform);
}
// render observed vehicles
if (!this.DesignMode && RemoraCommon.Communicator.GetObservedVehicles() != null)
{
SceneEstimatorTrackedClusterCollection setcc = RemoraCommon.Communicator.GetObservedVehicles();
for (int i = 0; i < setcc.clusters.Length; i++)
{
SensedVehicleDisplay svd = new SensedVehicleDisplay(setcc.clusters[i]);
svd.Render(e.Graphics, this.WorldTransform);
}
}
if (!this.DesignMode)
{
// render driver side sick
VehicleState state = RemoraCommon.Communicator.GetVehicleState();
if (state != null)
{
Coordinates dvec = state.Front - state.Position;
Coordinates driverVec = dvec.Rotate90();
SideObstacles dsobs = RemoraCommon.Communicator.GetSideObstacles(SideObstacleSide.Driver);
if (dsobs != null)
{
foreach (SideObstacle so in dsobs.obstacles)
{
if (so.height > 0.7)
{
Coordinates cVec = state.Position + driverVec.Normalize(so.distance);
DrawingUtility.DrawControlPoint(cVec, Color.Black, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, e.Graphics, this.WorldTransform);
}
}
}
// render driver side sick
Coordinates pvec = state.Front - state.Position;
Coordinates passVec = dvec.RotateM90();
SideObstacles psobs = RemoraCommon.Communicator.GetSideObstacles(SideObstacleSide.Passenger);
if (psobs != null)
{
foreach (SideObstacle so in psobs.obstacles)
{
if (so.height > 0.7)
{
Coordinates cVec = state.Position + passVec.Normalize(so.distance);
DrawingUtility.DrawControlPoint(cVec, Color.Black, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, e.Graphics, this.WorldTransform);
}
}
}
}
}
// render observed obstacles
if (!this.DesignMode && RemoraCommon.Communicator.GetVehicleState() != null && RemoraCommon.RoadNetwork != null)
{
// set and render
obstacleDisplay.untrackedClusters = RemoraCommon.Communicator.GetObservedObstacles();
obstacleDisplay.trackedClusters = RemoraCommon.Communicator.GetObservedVehicles();
obstacleDisplay.Render(e.Graphics, this.WorldTransform);
}
// restore the graphics state
e.Graphics.Restore(gs);
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (this.trackedCluster.targetClass == SceneEstimatorTargetClass.TARGET_CLASS_CARLIKE)
{
bool clusterStopped = this.trackedCluster.isStopped;
bool occluded = ((this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_FULL && clusterStopped) ||
(this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_PART && clusterStopped));
Color c = this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE ?
DrawingUtility.ColorSimTrafficCar :
DrawingUtility.ColorSimDeletedCar;
if (occluded)
{
c = Color.Chocolate;
}
else if ((this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_FULL && !clusterStopped) ||
(this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_PART && !clusterStopped))
{
occluded = true;
c = Color.DarkOrange;
}
if (this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE &&
this.trackedCluster.isStopped && this.trackedCluster.speedValid)
{
c = Color.Red;
}
else if (this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE &&
this.trackedCluster.isStopped && !this.trackedCluster.speedValid)
{
c = Color.SkyBlue;
}
bool draw = this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE || occluded ?
DrawingUtility.DrawSimCars :
DrawingUtility.DrawSimCars && DrawingUtility.DrawSimCarDeleted;
if (draw)
{
Coordinates heading = (new Coordinates(1, 0)).Rotate(this.trackedCluster.absoluteHeading).Normalize(3.0);
Coordinates headingCoord = this.trackedCluster.closestPoint + heading;
if (trackedCluster.headingValid)
{
DrawingUtility.DrawColoredControlLine(Color.Blue, DashStyle.Solid, this.trackedCluster.closestPoint, headingCoord, g, t);
}
if (DrawingUtility.DrawSimCarId)
{
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
this.trackedCluster.id.ToString(),
ContentAlignment.TopLeft,
ControlPointStyle.LargeBox,
g, t);
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
this.trackedCluster.speed.ToString("f1"),
ContentAlignment.BottomLeft,
ControlPointStyle.LargeBox,
g, t);
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
this.PartitionIdString(),
ContentAlignment.BottomRight,
ControlPointStyle.LargeBox,
g, t);
}
else
{
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
null,
ContentAlignment.MiddleCenter,
ControlPointStyle.LargeBox,
g, t);
}
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (!this.snapToWaypoints || this.roadNetwork == null)
{
if (this.Current != null)
{
LLACoord lla = GpsTools.XyToLlaDegrees(Current, projection);
string locString = Current.X.ToString("F6") + ", " + Current.Y.ToString("F6") + "\n" +
lla.lat.ToString("F6") + ", " + lla.lon.ToString("F6") + "\n" + GpsTools.LlaDegreesToArcMinSecs(lla);
DrawingUtility.DrawControlPoint(this.Current, DrawingUtility.ColorToolPointAnalysis, locString,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
if (Save != null && Save.Count > 0)
{
foreach (Coordinates tmp in Save)
{
LLACoord lla = GpsTools.XyToLlaDegrees(tmp, projection);
string locString = tmp.X.ToString("F6") + ", " + tmp.Y.ToString("F6") + "\n" +
lla.lat.ToString("F6") + ", " + lla.lon.ToString("F6") + "\n" + GpsTools.LlaDegreesToArcMinSecs(lla);
DrawingUtility.DrawControlPoint(tmp, DrawingUtility.ColorToolPointAnalysis, locString,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
else
{
if (this.Current != null)
{
Coordinates c = this.Current;
double minDist = Double.MaxValue;
Coordinates?closest = null;
foreach (IArbiterWaypoint iaw in this.roadNetwork.ArbiterWaypoints.Values)
{
double d = iaw.Position.DistanceTo(c);
if (d < minDist && ((IDisplayObject)iaw).HitTest(c, (float)0.2, wt, DrawingUtility.DefaultFilter).Hit)
{
minDist = d;
closest = iaw.Position;
}
}
if (closest != null)
{
c = closest.Value;
}
LLACoord lla = GpsTools.XyToLlaDegrees(c, projection);
string locString = c.X.ToString("F6") + ", " + c.Y.ToString("F6") + "\n" +
lla.lat.ToString("F6") + ", " + lla.lon.ToString("F6") + "\n" + GpsTools.LlaDegreesToArcMinSecs(lla);
DrawingUtility.DrawControlPoint(c, DrawingUtility.ColorToolPointAnalysis, locString,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
public void Render(IGraphics g, WorldTransform wt)
{
List <InternalTrackedCluster> trackedClusters = this.trackedClusters;
float vehicleHeading = (float)Services.VehicleStateService.Heading;
PointF vehiclePos = Utility.ToPointF(Services.VehicleStateService.Location);
g.GoToVehicleCoordinates(vehiclePos, vehicleHeading + (float)Math.PI / 2.0f);
SizeF boxSize = new SizeF(2 * point_box_size, 2 * point_box_size);
foreach (InternalTrackedCluster cluster in trackedClusters)
{
// determine cluster color
Color clusterColor;
switch (cluster.targetClass)
{
case SceneEstimatorTargetClass.TARGET_CLASS_CARLIKE:
clusterColor = carlikeColor;
break;
case SceneEstimatorTargetClass.TARGET_CLASS_NOTCARLIKE:
clusterColor = notcarColor;
break;
case SceneEstimatorTargetClass.TARGET_CLASS_UNKNOWN:
default:
clusterColor = unknownColor;
break;
}
if (cluster.targetStatus == SceneEstimatorTargetStatusFlag.TARGET_STATE_DELETED)
{
clusterColor = Color.FromArgb(deleted_alpha, clusterColor);
}
if (drawPoints)
{
// render the points
IPen pen = g.CreatePen();
pen.Color = clusterColor;
pen.Width = nominal_pixel_size / wt.Scale;
for (int j = 0; j < cluster.points.Length; j++)
{
g.DrawRectangle(pen, new RectangleF(cluster.points[j], boxSize));
}
}
if (drawPolygon)
{
IPen pen = g.CreatePen();
pen.Color = clusterColor;
pen.Width = nominal_pixel_size / wt.Scale;
g.DrawPolygon(pen, Utility.ToPointF(cluster.polygon));
}
// if we're stopped, draw an x at the center of the polygon
if (cluster.isStopped)
{
DrawingUtility.DrawControlPoint(g, cluster.polygon.GetCentroid(), Color.Red, null, ContentAlignment.BottomCenter, ControlPointStyle.LargeX, wt);
}
else
{
// draw a vector pointing from the centroid of the polygon out
}
}
g.ComeBackFromVehicleCoordinates();
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
// width of drawing
float penWidth = nomPixelWidth / t.Scale;
// body rectangle
RectangleF bodyRect = new RectangleF((float)(-this.Width / 2), -rearOffset, (float)Width, (float)Length);
// body transformation matrix
Matrix bodyTrans = new Matrix();
bodyTrans.Rotate((float)(this.Heading.ToDegrees() - 90));
bodyTrans.Translate((float)Position.X, (float)Position.Y, MatrixOrder.Append);
// save original world transformation matrix
Matrix origTrans = g.Transform.Clone();
bodyTrans.Multiply(g.Transform, MatrixOrder.Append);
// set the new transform
g.Transform = bodyTrans;
// make a new pen and draw wheels
using (Pen p = new Pen(color, penWidth))
{
DrawRectangle(g, p, bodyRect);
// build the transform for the rear wheels
// do the left wheel
Matrix wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(-wheelOffset, 0, MatrixOrder.Prepend);
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectL);
DrawRectangle(g, p, wheelRectL);
// do the right wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(wheelOffset, 0, MatrixOrder.Prepend);
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectR);
DrawRectangle(g, p, wheelRectR);
// do the front wheels
// do the left wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(-wheelOffset, wheelbase, MatrixOrder.Prepend);
wheelTransform.Rotate(steeringAngle * 180 / (float)Math.PI, MatrixOrder.Prepend);
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectL);
DrawRectangle(g, p, wheelRectL);
// do the right wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(wheelOffset, wheelbase, MatrixOrder.Prepend);
wheelTransform.Rotate(steeringAngle * 180 / (float)Math.PI, MatrixOrder.Prepend);
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectR);
DrawRectangle(g, p, wheelRectR);
}
// return to normal transformation
g.Transform = origTrans;
// draw car center point
DrawingUtility.DrawControlPoint(this.Position, this.color, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, g, t);
// check if should draw id
if (DrawingUtility.DrawSimCarId)
{
// get length
double idOffset = this.Length / 2;
if (this.RearAxleType == RearAxleType.Center)
{
idOffset = this.Length / 3;
}
// get label position
Coordinates labelPosition = this.Position + this.Heading.Normalize(idOffset);
// draw label
DrawingUtility.DrawControlLabel(labelPosition, this.color, this.Id, ContentAlignment.MiddleCenter, ControlPointStyle.None, g, t);
}
}
